CN102006814A - Torque-adjusting drive mechanism for a propellable device - Google Patents
Torque-adjusting drive mechanism for a propellable device Download PDFInfo
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- CN102006814A CN102006814A CN200980113017.5A CN200980113017A CN102006814A CN 102006814 A CN102006814 A CN 102006814A CN 200980113017 A CN200980113017 A CN 200980113017A CN 102006814 A CN102006814 A CN 102006814A
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- 208000018452 Torsade de pointes Diseases 0.000 description 1
- 208000002363 Torsades de Pointes Diseases 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/065—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with a plurality of driving or driven shafts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19023—Plural power paths to and/or from gearing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19074—Single drive plural driven
- Y10T74/19079—Parallel
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Abstract
A drive mechanism includes a drive assembly including a driven element, a first driveshaft, configured to be engaged with the drive assembly, the first driveshaft configured to rotate in a first direction and relate a first assembly torque to the drive assembly and a first drive torque to the driven element, and a torque adjusting mechanism operatively engaged with the drive assembly and configured to relate a second assembly torque, opposite in direction to the first assembly torque, to the drive assembly.
Description
The related application cross reference
This non-provisional application case advocates that the serial number of filing an application on March 11st, 2008 is 61/068, the benefit of priority of 984 U.S. Provisional Application case under 35U.S.C. § 119 (e), the mode that the description of described U.S. Provisional Application case is quoted hereby in full is incorporated herein.
Technical field
This patent file generally relates to driving mechanism, but and more particularly relates to the moment of torsion that is used for propulsion plant and adjust driving mechanism.
Background technology
Driving mechanism can be used for driving various objects.For instance, but some endoscopic system utilizations help to carry the self-advancing device of endoscope or other load.These self-propelled formula devices can drive by driving shaft, but the rotation of described driving shaft drives described device with one or more gears in the driving mechanism that rotates self-advancing device.Yet the rotation of described driving shaft can cause not conforming to unexpected portion moment of torsion on the described device.
Summary of the invention
This general introduction plans to provide the general introduction to the subject matter of present application for patent.It does not plan to provide exclusiveness of the present invention or limit interpretation.Comprise detailed description so that the further information about the subject matter of present application for patent to be provided.
In example 1, a kind of driving mechanism comprises: drive molectron, it comprises drive element; First driving shaft, it is configured to and the engagement of described driving molectron, and described first driving shaft is configured to along the first direction rotation and makes the first molectron moment of torsion relevant with described driving molectron and first driving torque is correlated with described drive element; And the moment of torsion guiding mechanism, its mesh and be configured with mode of operation with described driving molectron so that on direction the second molectron moment of torsion opposite with the described first molectron moment of torsion relevant with described driving molectron.
In example 2, the moment of torsion guiding mechanism of example 1 randomly comprises: second driving shaft, and it is configured to along the second direction opposite with described first direction rotation and makes the described second molectron moment of torsion relevant with described driving molectron and second driving torque is correlated with described drive element; And idle gear, it is configured to and described drive element coupling, described idle gear be configured to described first driving shaft or described second driving shaft in direction of rotation that are communicated with the described driving torque that reverses, be provided for the unidirectional drive moment of torsion relevant whereby with described drive element.
In example 3, the driving mechanism of example 2, wherein with from only one the relevant of driving torque in described first and second driving shaft compare, the amount of power relevant with described drive element randomly is by from unidirectional the applying of the driving torque of described first and second driving shaft and enhanced.
In example 4, the driving mechanism of any one in the example 2 to 3, wherein said first driving shaft and second driving shaft randomly have at least in part the drive shaft shell around the respective drive axle separately, and wherein said driving shaft shell corresponding with it is configured to combining form with in the bending stiffness that produces along from one or more axis bendings of the longitudinal axis fork of described driving shaft the time about equally.
In example 5, the driving mechanism of any one in the example 1 to 4, wherein said moment of torsion guiding mechanism randomly comprises second driving shaft, described second driving shaft is configured to along the second direction opposite with described first direction rotation and makes the described second molectron moment of torsion relevant with described driving molectron and second driving torque is correlated with described drive element, and one in wherein said first driving shaft or described second driving shaft and described first and second driving shaft between the isolated part of engagement mesh so that described first and second driving torque and described drive element are unidirectional relevant with described drive element.
In example 6, the driving mechanism of example 5, wherein with described first driving torque or described second driving torque in only one relevant comparing, the amount of power relevant with described drive element randomly is unidirectional relevant and enhanced by from described first and second driving torque of described first and second driving shaft.
In example 7, the driving mechanism of any one in the example 1 to 6, wherein said first driving shaft and second driving shaft randomly have at least in part the drive shaft shell around described respective drive axle separately, and wherein said driving shaft shell corresponding with it is configured to combining form with in the bending stiffness that produces along from one or more axis bendings of the described longitudinal axis fork of described driving shaft the time about equally.
In example 8, the driving mechanism of any one in the example 1 to 7, wherein said moment of torsion guiding mechanism randomly comprises at least in part around described first driving shaft and is attached to the shell of the framework of described driving molectron, wherein said shell is configured to make the described second molectron moment of torsion comprise the non-driving torque that is applied to described driving molectron by described shell not with respect to described first driving shaft rotation.
In example 9, the driving mechanism of any one in the example 1 to 8, wherein said moment of torsion guiding mechanism randomly comprises a plurality of driving shafts, and described a plurality of driving shafts are configured to and described driving molectron engagement.
In example 10, a kind of system comprises: but propulsion plant; And driving mechanism, but its be configured to provide described propulsion plant advancing forward or backward at least one, described driving mechanism comprises, and drives molectron, it comprises drive element; First driving shaft, it is configured to and the engagement of described driving molectron, and described first driving shaft is configured to along the first direction rotation and makes the first molectron moment of torsion relevant with described driving molectron and first driving torque is correlated with described drive element; And the moment of torsion guiding mechanism, its mesh and be configured with mode of operation with described driving molectron so that on direction the second molectron moment of torsion opposite with the described first molectron moment of torsion relevant with described driving molectron.
In example 11, the system of example 10, wherein said moment of torsion guiding mechanism randomly comprises: second driving shaft, and it is configured to along the second direction opposite with described first direction rotation and makes the second molectron moment of torsion relevant with described driving molectron and second driving torque is correlated with described drive element; And idle gear, it is configured to and described drive element coupling, described idle gear be configured to described first driving shaft or described second driving shaft in direction of rotation that are communicated with the described driving torque that reverses, be provided for the unidirectional drive moment of torsion relevant whereby with described drive element.
In example 12, the system of example 11, it randomly comprises the electric control unit that is coupled to described first and second driving shaft and is configured to apply to each driving shaft the moment of torsion value that equates or equate approximately.
In example 13, the system of example 11, it randomly comprises the electric control unit that has in order to the Spin Control input mechanism that input is delivered to circuit for controlling motor or software, but described input comprises will the advancing the driving torque value and comprise the instruction that will rotate of described propulsion plant of the net value of described first and second molectron moment of torsion of net value that comprises described first and second driving torque in order to control simultaneously.
In example 14, the system of any one in the example 10 to 13, wherein said moment of torsion guiding mechanism randomly comprises second driving shaft, described second driving shaft is configured to along the second direction opposite with described first direction rotation and makes the described second molectron moment of torsion relevant with described driving molectron and second driving torque is correlated with described drive element, and one in wherein said first driving shaft or described second driving shaft and described first and second driving shaft between the isolated part of engagement mesh so that described first and second driving torque and described drive element are unidirectional relevant with described drive element.
In example 15, the system of example 14, it randomly comprises the electric control unit that is coupled to described first and second driving shaft and is configured to apply to each driving shaft the moment of torsion value that equates or equate approximately.
In example 16, the system of example 14, it randomly comprises the electric control unit that has in order to the Spin Control input mechanism that input is delivered to circuit for controlling motor or software, but described input comprises will the advancing the driving torque value and comprise the instruction that will rotate of described propulsion plant of the net value of described first and second molectron moment of torsion of net value that comprises described first and second driving torque in order to control simultaneously.
In example 17, the system of any one in the example 10 to 16, wherein said moment of torsion guiding mechanism randomly comprises at least in part around described first driving shaft and is attached to the shell of the framework of described driving molectron, wherein said shell is configured to make the described second molectron moment of torsion comprise the non-driving torque that is applied to described driving molectron by described shell not with respect to described first driving shaft rotation.
In example 18, a kind of method comprises: make first driving shaft along first direction rotation and apply first driving torque and apply the first molectron moment of torsion to described driving molectron to the drive element that drives molectron whereby; And applying the opposite molectron moment of torsion of second direction by the moment of torsion guiding mechanism, described moment of torsion guiding mechanism meshes and is configured so that the described second molectron moment of torsion is relevant with described driving molectron with mode of operation with described driving molectron.
In example 19, the method of example 18, wherein apply the opposite molectron moment of torsion of described second direction and randomly comprise use by described moment of torsion guiding mechanism: second driving shaft, it is configured to along the second direction opposite with described first direction rotation and makes the described second molectron moment of torsion relevant with described driving molectron and second driving torque is correlated with described drive element; And idle gear, it is configured to and described drive element coupling, described idle gear be configured to described first driving shaft or described second driving shaft in direction of rotation that are communicated with the described driving torque that reverses, be provided for the unidirectional drive moment of torsion relevant whereby with described drive element.
In example 20, the method of example 18, wherein apply the opposite molectron moment of torsion of described second direction and randomly comprise use second driving shaft by described moment of torsion guiding mechanism, described second driving shaft is configured to along the second direction opposite with described first direction rotation and makes the described second molectron moment of torsion relevant with described driving molectron and second driving torque is correlated with described drive element, and
Wherein make one in described first driving shaft or described second driving shaft and described first and second driving shaft between the isolated part of engagement and described drive element engagement so that described first and second driving torque and described drive element are unidirectional relevant.
In example 21, the method of any one in the example 18 to 20, wherein apply the opposite molectron moment of torsion of described second direction and randomly comprise use at least in part around described first driving shaft and be attached to the shell of the framework of described driving molectron by described moment of torsion guiding mechanism, wherein said shell is configured to make the described second molectron moment of torsion comprise the non-driving torque that is applied to described driving molectron by described shell not with respect to described first driving shaft rotation.
In example 22, the method of any one in the example 18 to 20, wherein randomly use described moment of torsion guiding mechanism to control the outside rotating assembly moment of torsion of giving described driving molectron by described first and second molectron moment of torsion, so that use the outer buttons torque that is delivered to described driving molectron to control the position of described driving molectron at least in part.
Description of drawings
Graphic at least one embodiment that is discussed herein with the graphic extension of ways to restrain cardinal principle by way of example and not.
But the moment of torsion that Fig. 1 graphic extension is used with propulsion plant is eliminated or the example of the sketch map of other moment of torsion adjustment driving mechanism, and described driving mechanism can randomly be configured to produce desired external device (ED) moment of torsion.
But Fig. 2 graphic extension is connected to the example of the propulsion plant of electric control unit.
But the moment of torsion that Fig. 3 graphic extension is used with propulsion plant is eliminated or the sketch map of the example of second possible configuration of other moment of torsion adjustment driving mechanism, and described driving mechanism can randomly be configured to produce desired external device (ED) moment of torsion.
But Fig. 4 graphic extension is attached to the example of the propulsion plant of electric control unit, and described control unit comprises the individual component that is used to control one or more driving torques that are transferred to described device.
But the example of the embodiment of Fig. 5 graphic extension propulsion plant, but described propulsion plant can partly use the external device (ED) moment of torsion that is produced by the imbalance of the despining driving torque that is delivered to described device to guide.
Fig. 6 is illustrated in the example of the structure that shows lateral deflection when standing bending stress.
Fig. 7 is illustrated in the example that shows seldom lateral deflection when standing bending stress or do not show the structure of lateral deflection.
The specific embodiment
But but the moment of torsion that Fig. 1 graphic extension is used by the one or more propulsion plant in the propulsion plant described in following United States Patent (USP) of for example owning together or the application case is eliminated or the example of other moment of torsion adjustment driving mechanism 100: title is the 6th of " propulsive mechanism (PROPULSION MECHANISM FOR ENDOSCOPIC SYSTEMS) that is used for endoscopic system " the, 971, No. 990 United States Patent (USP)s, title is 11/260 for the serial number of " but self-propelled endoscopic apparatus and method (SELF-PROPELLABLE ENDOSCOPIC APPARATUS AND METHOD) ", 342 U.S. patent application case and title be " but self-propelled endoscopic apparatus and method (SELF-PROPELLABLE ENDOSCOPIC APPARATUS AND METHOD) " the 11/825th, No. 528 U.S. patent application case, each mode of quoting in full in described United States Patent (USP) or the application case is incorporated herein, but comprises its disclosure to propulsion plant.
In different examples, but that the propulsion plant described in the aforementioned patent document can comprise is permeable or impermeable from envelope tube, and it is through determining size and through being shaped with the intracavity that is assemblied in for example human body cavity or animal cavity and meshing described chamber.Described pipe can have and defines the inner surface through sealing the zone and be configured to outwards rotate with the wall that meshes described chamber and inwardly rotate the outer surface that defines the central area of concentric longitudinal path with encirclement.Described equipment can further comprise and approaches the coupled associate member of described pipe.Described associate member can be configured to (for example) load (for example, adnexa) is anchored on the position that is arranged in described central area at least in part.After fastening described load, can give described pipe supplying power to provide with respect to the moving of described chamber, promote described load with respect to described chamber moving in the direction forward or backwards of described longitudinal path at least one whereby.
In the example of some shown in Fig. 1 for example, eliminate or moment of torsion is adjusted driving mechanism 100 and can be comprised two flexible solid wire driving shafts 102,104 but be configured for use in to the power-producing moment of torsion of the pipe of propulsion plant, but described two flexible solid wire driving shafts for example be used for when described propulsion plant is positioned at the intracavity of human body cavity for example, but machine power being fed to described propulsion plant from external position.In some instances, driving shaft 102,104 can comprise one or more non-solid flexible unit, for example cables of Juan Raoing that also can send driving torque.Driving mechanism 100 also comprises driving molectron 105, and described driving molectron comprises framework 126 and drive element 110.Driving shaft 102,104 is operatively coupled to and drives molectron 105 to apply the propelling driving torque to drive element 110.
But Fig. 2 shows the propulsion plant 202 of the driving mechanism that comprises Fig. 1 that is connected to electric control unit 204.Electric control unit 204 can be coupled to driving shaft 102,104 and can be configured to apply driving torque value equal or that equate approximately to each driving shaft but it is rotated along opposite directions.By making driving shaft 102,104, drive molectron 105 and driven propulsion plant 202 originally around the outside trend of gained of axis 112 rotations of the axis that is parallel to driving shaft 102,104 substantially but can eliminate, minimize or otherwise reduce along the rotation of opposite direction.Therefore, but but drive molectron 105 and propulsion plant 202 and be positioned at propulsion plant 202 or be attached to its arbitrary load can be without undergoing the influence based on the moment of torsion of driving.
Shown in example in and refer again to Fig. 1, make one in driving shaft 102 or 104 along first direction rotation so that first driving torque is relevant with drive element 110.Simultaneously, driving shaft 102 or 104 makes the first molectron moment of torsion relevant with driving molectron 105.Make another driving shaft 102 or 104 along the second direction opposite with first direction rotation, this makes the second opposite molectron moment of torsion relevant with driving molectron 105.(for example pass through idle gear 108 before can being applied to drive element 110 at the driving torque that is associated with another driving shaft 102 or 104, but but be positioned at described propulsion plant place or near described propulsion plant) direction of rotation of reverse another another driving shaft 102 or 104, described idle gear can be taked (for example) but be configured to drive the form of cylindrical worm gear of the actuating of described propulsion plant.Therefore, in this example, one and the idle gear 108 in the driving shaft 102 or 104 serves as and is configured so that second driving torque and drive element 110 are relevant simultaneously to driving the moment of torsion guiding mechanism that molectron 105 applies the second opposite molectron moment of torsion.
Therefore, but driving shaft 102,104 both can be between electric control unit 204 and propulsion plant 202 the position along opposite direction rotation, so that apply selected overall clean molectron moment of torsion to driving molectron 105, and both also can be used for but the unidirectional drive moment of torsion at propulsion plant 202 places is applied to drive element 110, for example be used for strengthening (for example, doubling) can arbitrary given rotary speed and the driving torque that is associated be delivered to the mechanokinetic amount of drive element 110.In some instances, driving shaft 102,104 need not have the identical speed of rotation.But, its driving torque that applies is equated or about equally, but so that suppress or prevent based on the moment of torsion that drives to propulsion plant 202 or be positioned at it or be attached to any significantly clean rotation influence of its load.
In some instances, can only have a rotating driveshaft and by for example applying the non-driving torque of driven equilibrium around the non-rotating element of the shell 116 of described rotating driveshaft.For example, shell 116 can be attached to machine frame 126, can omit driving shaft 102 and driving shaft 104 is rotated to apply single driving torque to drive element 110 and to apply single molectron moment of torsion to driving molectron 105 along a direction.In this example, but can apply opposite molectron moment of torsion with cancellation or minimize any significantly clean rotation of the driving molectron that causes by described driving torque 105 and propulsion plant 202 to shell 116.Therefore, in this example, shell 116 serve as be configured so that on direction the second moment of torsion opposite moment of torsion guiding mechanism relevant with driving molectron 105 with described driving torque.
In some instances, can be under the situation of not using idle gear 108 direction of rotation of one in the driving shaft 102,104 that received as drive element 110 of counter-rotating effectively.
This kind example is shown among Fig. 3.In this example, be coupled to along first driven gear 118 of first driving shaft 102 of first direction rotation can with second driving shaft, 104 coupled second driven gears, 120 engagements along second direction (opposite) rotation with first direction.The part away from a certain distance of engagement between the one 118 and the 2 120 driven gear of the one 118 or the 2 120 driven gear can mesh with drive element 110 (for example, cylindrical worm gear).
Therefore, driving shaft 102,104 both can electric control unit 204 (referring to Fig. 2) and the 1 with the engagement of the 2 120 driven gear between the position along opposite direction rotation, and but both can be used for to drive element 110 and therefore apply the unidirectional drive moment of torsion to propulsion plant 202, for example be used for strengthening (for example, doubling) can arbitrary given rotary speed and the driving torque that is associated be delivered to the mechanokinetic amount of drive element 110.
In some instances, refer again to Fig. 1, can not add up to zero or be roughly this zero mode and control, but make that driven propulsion plant 202 will be around axis 112 rotations that are parallel to driving shaft 102,104 substantially when being coupled to drive element 110 by 102,104 pairs of clean external device (ED) moments of torsion that rotation torque produced that drive molectron 105 of first and second driving shaft.But but can use gained external device (ED) moment of torsion divided by drive shaft shell molectron 114 propulsion plants 202 to the vector sum of the moment of torsion rigidity of the connectivity structure of load or described both and control the anglec of rotation of propulsion plant 202.But can utilize this in check anglec of rotation to guide propulsion plant 202 to pass the chamber.
Can use drive shaft shell molectron 114 (for example) but propulsion plant 202 (comprising drive element 110) is connected to driving torque and produce electric control unit 204 via drive shaft shell 116 and driving shaft 102,104.If the rotation torque that electric control unit 204 is adjusted described driving shaft by being configured with controlled manner is to provide or to help to provide the control system control of desired orientation, this technology can provide the controlled orientation that drives molectron 105 (but and so propulsion plant 202) so.
Fig. 4 graphic extension electric control unit 402, but it comprises and allows the operator that the electricity input is delivered to circuit for controlling motor or the software Spin Control input mechanism 404 that will rotate with indication propulsion plant 202.
For instance, refer again to Fig. 1, electric control unit 402 can be configured to make the driven gear 118 of winning will be applied to drive element 110 by the driving torque that first driving shaft 102 provides via idle gear 108, but the symbol of the driving torque vectors that apply that reverse in machine frame 126 inside of propulsion plant 202 whereby, so its coupling is by the direction of the driving torque of second driving shaft 104 and 120 supplies of second driven gear thereof.This doubles the driving torque that is applied to drive element 110.In some instances, the driving torque that is transferred to first driven gear 118 and second driven gear 120 in the position of machine frame 126 outsides can equate on the value but opposite on direction.Therefore, in this type of example, but do not produce framework 126 and the therefore clean outside rotation of propulsion plant 202.
The user of electric control unit 402 can change the moment of torsion that is transmitted by driving shaft 102,104 via Spin Control input mechanism 404.If described moment of torsion through providing so that it is unequal on value, but but drive molectron 105 so and puopulsion equipment 202 will reach the angle of propulsion plant 202 moments of torsion divided by the moment of torsion rigidity of drive shaft shell molectron 114 by being defined as gained external mechanical framework 126 around axis 112 rotations that are roughly parallel to drive axis.
But the electric control mechanism 402 that Fig. 5 graphic extension is wherein described in conjunction with Fig. 4 can be a useful possibility propulsion plant and uses.But the exemplary propulsion plant 502 shown in this example can be used as with passing for example member of body lumen such as colon or small intestinal so that the one or both in diagnosis or the treatment element is advanced.
In this example, but propulsion plant 502 comprises annular from envelope tube 503, and it can be positioned at from the supporting construction 522 through sealing the zone of envelope tube 503 and be positioned at molectron propelling from the drives structure 532 in the open center district of envelope tube 503 by comprising.Drive element 110 comprises the wheel 530 of engage drive structure 532 and makes the screw thread of its rotation.Be positioned at the skid on the supporting construction 522 or take turns 520 quilts towards wheel 530 biasings, wherein flexible material is clipped in therebetween from envelope tube 503.But therefore the rotation of wheel 530 makes described flexible material rotation and propulsion plant 502 optionally and forward or backward move.Discuss as mentioned, the rotation of driving shaft 102,104 is provided to gear 118,108,120 (referring to Fig. 1) with driving torque, and described gear is provided to drive element 110 with driving torque.
As shown in the figure, but propulsion plant 502 can be installed on module 504 tops of containing forward sight camera and optical element.Be connected to module 504 the rear portion can be flexible electrical wire harness 506 and the service aisle 512 that contains in order to the lead of operating described camera and optical element.In addition, can have flexible pipe 508, it passes module 504 makes other device can pass the opening that pipe 508 arrived and passed the tip of module 504 from first end that is positioned at the body cavity outside.Bent tip element 510 also can be attached to module 504 at its most advanced and sophisticated place.This bent tip element 510 can work with guiding device 502, but because can use differential driving torque method as described above that described torsades de pointes is arrived different orientations to driving molectron 105 and propulsion plant 502 via driving shaft 102,104.In this way, bent tip element 510 can be through guiding to advance in body cavity at described device and to pass at that time the path alignment of being wanted in the chamber therewith.
The moment of torsion that comprises two driving shafts 102,104 is eliminated or the example of moment of torsion adjustment driving mechanism 100 though Fig. 1 graphic extension can be used as, and this subject matter is not subjected to restriction like this.For instance, in some instances, also can use a number driving shaft, for example, make the vector sum (value and direction) that is applied to the external torque that drives molectron 105 that produces by driving torque be substantially equal to zero more than two.Be roughly zero if drive this type of external torque addition of molectron 105 outsides, but so roughly do not have the clean moment of torsion (and therefore roughly not having clean rotation) of driven propulsion plant 202.A plurality of driving shafts can be configured to along alternative direction rotation, along the second direction rotation opposite with the direction of first driving shaft and/or along the direction rotation identical with first driving shaft.Believe that in some instances, extra driving shaft (for example, above two) can help (1) that more power are delivered to drive element 110; (2) allow to use the more flexible driving shaft of minor diameter at given power lever; Or (3) allow side by side or synchronously to carry out a plurality of functions (for example, motion and cutting).
Flexible drive shaft 102,104 will be always through by bending when it crosses one or more turnings, chamber at one or more mankind for example or turning, animal chamber.This bending can cause the lateral deflection of driving shaft 102,104, and it can cause the uncomfortable of the mankind or animal or even damage or to the damage of another chamber supporting structure potentially.For this reason at least, eliminate or be minimized at least driving shaft 102,104 around the turning, chamber or the lateral deflection that produces when crooked of other turning can be useful.In various examples, found can be by distribution driving mechanism 100 assemblies placement so that eliminate or minimizing cross driving shaft deflection at least along the cross section mechanism equal stiffness of plane main shaft.When along the rigidity of plane main shaft when unequal, structure can show lateral deflection 602 when standing bending force 604, as shown in Figure 6.On the contrary, when along the equal stiffness of plane main shaft or about equally, structure can show seldom lateral deflection or not show lateral deflection when standing bending force 704, as shown in Figure 7.
When the structure of the driving mechanism 100 of considering to comprise two or more driving shafts 102,104, assembly at described driving mechanism has under the situation of different physical propertys, can make the described assembly that how to distribute and make along mechanism's cross section equal stiffness of main shaft or thinking over about equally.Owing to different physical propertys, the geometric cross-section symmetry of driving mechanism 100 may will may not cause equal cross-sections rigidity at least in part.In some instances, can use the elastic theory iterative technique to draw to have and equate or driving mechanism 100 assemblies of about equally cross section rigidity distribute along main shaft.In some instances, can draw to have by means of 3D computer-aided design (CAD) system and equate or driving mechanism 100 assemblies of about equally cross section rigidity distribute along main shaft.
Additional comments:
The above specific embodiment comprises the reference to the accompanying drawing of a part that forms the specific embodiment.Described graphic the demonstration with way of illustration wherein can be put into practice specific embodiments of the invention.These embodiment are also referred to as " example " in this article.This type of example comprises the element except illustrated and described those elements.Yet the inventor also expects wherein only provides the example of illustrated and described those elements.
Way of reference is incorporated herein as individually incorporating in full with way of reference for all open cases, patent and other patent document of institute's reference in the presents.Under the inconsistent situation of usage between presents and those files of incorporating into way of reference, the usage in the reference of being incorporated into should be considered as replenishing to the usage of presents; For irreconcilable discordance, be as the criterion with the usage in the presents.
In presents, use term " " (as commonly used in patent document) to comprise one or with any other example of being independent of " at least one " or " one or more " or usage more than one.In presents, use term " or " refer to nonexcludability or, make " A or B " comprise " A but non-B ", " B but non-A " and " A and B ", unless indication is arranged in addition.In appended claims, use term " to comprise (including) " to reach " wherein (in which) " " to comprise (comprising) " and reach the equivalent of easily knowing English of " wherein (wherein) " as corresponding term.In addition, in above claims, term " comprises (including) " and reaches " comprising (comprising) " for open, that is to say that the system, device, object or the process that comprise the element except that those elements of listing in the claims after this term still are considered to belong in the scope of described claim.In addition, in above claims, term " first ", " second " reach " 3rd " or the like only as label, and do not plan its object is applied digital requirement.
Method example described herein can be a machine or computer-implemented at least in part.Some examples can comprise can operate the instruction calculation of coding machine readable media or the machine-readable medium of the method described in the example as mentioned of carrying out with the configuration electronic installation.The embodiment of these class methods can comprise for example codes such as microcode, assembler language code, higher-level language code.This code can comprise the computer-readable instruction that is used to carry out the whole bag of tricks.Described code can form the part of computer program.In addition, described code can the term of execution or visibly be stored on one or more volatibility or the non-volatile computer readable medium At All Other Times.These computer-readable medias can including but not limited to: but the hard disc removable disk, can load and unload CD (for example, compact discs and digital video disks), cartridge, memory cards or rod, random-access memory (ram), read only memory (ROM) etc.
More than describe and be intended to illustrative and non-limiting.For instance, above-mentioned example (or one or an above aspect) but combination with one another use.For example the those skilled in the art can use other embodiment after checking above description.In addition, in the above specific embodiment, can be with various characteristics combination together to simplify the present invention.This should not be construed as that plan do not advocate the feature that discloses all essential to arbitrary claim.But the invention subject matter can be to be less than specific all features that disclose embodiment.Therefore, hereby above claims are incorporated in the specific embodiment, wherein each claim is independently as independent embodiment.The four corner of the equivalent that scope of the present invention should be enjoyed together with these claims with reference to appended claims is determined.
Claims (22)
1. driving mechanism, it comprises:
Drive molectron, it comprises drive element;
First driving shaft, it is configured to and the engagement of described driving molectron, and described first driving shaft is configured to along the first direction rotation, and makes the first molectron moment of torsion relevant with described driving molectron and first driving torque is correlated with described drive element; And
The moment of torsion guiding mechanism, itself and described driving molectron mesh with mode of operation, and be configured so that on direction the second molectron moment of torsion opposite with the described first molectron moment of torsion relevant with described driving molectron.
2. driving mechanism according to claim 1, wherein said moment of torsion guiding mechanism comprises: second driving shaft, it is configured to along the second direction rotation opposite with described first direction, and make the described second molectron moment of torsion relevant, and make second driving torque relevant with described drive element with described driving molectron; And idle gear, it is configured to and described drive element coupling, described idle gear be configured to described first driving shaft or described second driving shaft in one be communicated with so that the direction of rotation of described driving torque becomes on the contrary, be provided for the unidirectional drive moment of torsion relevant whereby with described drive element.
3. driving mechanism according to claim 2, wherein with from only one the relevant of driving torque in described first and second driving shaft compare, the amount of the power relevant with described drive element is enhanced by unidirectional the applying from the driving torque of described first and second driving shaft.
4. according to the described driving mechanism of arbitrary claim in claim 2 or 3, wherein said first driving shaft and second driving shaft have at least in part the drive shaft shell around the respective drive axle separately, and
Wherein said driving shaft shell corresponding with it is configured to combining form, with in the bending stiffness that produces along from one or more axis bendings of the longitudinal axis bifurcated of described driving shaft the time about equally.
5. according to the described driving mechanism of arbitrary claim in the claim 1 to 4, wherein said moment of torsion guiding mechanism comprises second driving shaft, described second driving shaft is configured to along the second direction rotation opposite with described first direction, and make the described second molectron moment of torsion relevant with described driving molectron and make second driving torque and described drive element relevant, and
In wherein said first driving shaft or described second driving shaft one and described first and second driving shaft between the isolated part of engagement, with described drive element engagement, so that described first and second driving torque is unidirectional relevant with described drive element.
6. driving mechanism according to claim 5, wherein with described first driving torque or described second driving torque in only one relevant comparing, the amount of the power relevant with described drive element is by unidirectional relevant being enhanced from described first and second driving torque of described first and second driving shaft.
7. according to the described driving mechanism of arbitrary claim in the claim 1 to 6, wherein said first driving shaft and second driving shaft have at least in part the drive shaft shell around described respective drive axle separately, and
Wherein said driving shaft shell corresponding with it is configured to combining form, with in the bending stiffness that produces along from one or more axis bendings of the described longitudinal axis bifurcated of described driving shaft the time about equally.
8. according to the described driving mechanism of arbitrary claim in the claim 1 to 7, wherein said moment of torsion guiding mechanism comprises at least in part around described first driving shaft and is attached to the shell of the framework of described driving molectron, wherein said shell is configured to make the described second molectron moment of torsion comprise the non-driving torque that is applied to described driving molectron by described shell not with respect to described first driving shaft rotation.
9. according to the described driving mechanism of arbitrary claim in the claim 1 to 8, wherein said moment of torsion guiding mechanism comprises a plurality of driving shafts, and described a plurality of driving shafts are configured to and described driving molectron engagement.
10. system, it comprises:
But propulsion plant; And
Driving mechanism, but its be configured to provide described propulsion plant advancing forward or backward at least one, described driving mechanism comprises,
Drive molectron, it comprises drive element;
First driving shaft, it is configured to and the engagement of described driving molectron, and described first driving shaft is configured to along the first direction rotation, and makes the first molectron moment of torsion relevant with described driving molectron and first driving torque is correlated with described drive element; And
The moment of torsion guiding mechanism, itself and described driving molectron mesh with mode of operation, and be configured so that on direction the second molectron moment of torsion opposite with the described first molectron moment of torsion relevant with described driving molectron.
11. system according to claim 10, wherein said moment of torsion guiding mechanism comprises: second driving shaft, it is configured to along the second direction rotation opposite with described first direction, and make the second molectron moment of torsion relevant, and make second driving torque relevant with described drive element with described driving molectron; And idle gear, it is configured to and described drive element coupling, described idle gear be configured to described first driving shaft or described second driving shaft in one be communicated with so that the direction of rotation of described driving torque becomes on the contrary, be provided for the unidirectional drive moment of torsion relevant whereby with described drive element.
12. system according to claim 11, it further comprises the electric control unit that is coupled to described first and second driving shaft and is configured to apply to each driving shaft the moment of torsion value that equates or approximately equate.
13. system according to claim 11, it further comprises the electric control unit that has in order to the Spin Control input mechanism that input is delivered to circuit for controlling motor or software, described input comprises the required propelling driving torque value of net value that comprises described first and second driving torque in order to control simultaneously, but and comprises the instruction of required rotation of described propulsion plant of the net value of described first and second molectron moment of torsion.
14. according to the described system of arbitrary claim in the claim 10 to 13, wherein said moment of torsion guiding mechanism comprises second driving shaft, described second driving shaft is configured to along the second direction rotation opposite with described first direction, and make the described second molectron moment of torsion relevant with described driving molectron and make second driving torque and described drive element relevant, and
In wherein said first driving shaft or described second driving shaft one and described first and second driving shaft between the isolated part of engagement, with described drive element engagement, so that described first and second driving torque is unidirectional relevant with described drive element.
15. system according to claim 14, it further comprises the electric control unit that is coupled to described first and second driving shaft and is configured to apply to each driving shaft the moment of torsion value that equates or equate approximately.
16. system according to claim 14, it further comprises the electric control unit that has in order to the Spin Control input mechanism that input is delivered to circuit for controlling motor or software, but described input comprise in order to control simultaneously comprise described first and second driving torque net value needed propelling driving torque value and comprise the instruction of needed rotation of described propulsion plant of the net value of described first and second molectron moment of torsion.
17. according to the described system of arbitrary claim in the claim 10 to 16, wherein said moment of torsion guiding mechanism comprises at least in part around described first driving shaft and is attached to the shell of the framework of described driving molectron, wherein said shell is configured to make the described second molectron moment of torsion comprise the non-driving torque that is applied to described driving molectron by described shell not with respect to described first driving shaft rotation.
18. a method, it comprises:
First driving shaft is rotated along first direction, and apply first driving torque to the drive element that drives molectron whereby, and apply the first molectron moment of torsion to described driving molectron; And
Apply the opposite molectron moment of torsion of second direction by the moment of torsion guiding mechanism, described moment of torsion guiding mechanism and described driving molectron mesh with mode of operation, and are configured so that the described second molectron moment of torsion is relevant with described driving molectron.
19. method according to claim 18, wherein apply the opposite molectron moment of torsion of described second direction and comprise use: second driving shaft by described moment of torsion guiding mechanism, it is configured to along the second direction rotation opposite with described first direction, and make the described second molectron moment of torsion relevant, and make second driving torque relevant with described drive element with described driving molectron; And idle gear, it is configured to and described drive element coupling, described idle gear be configured to described first driving shaft or described second driving shaft in one be communicated with, so that the direction of rotation of described driving torque becomes on the contrary, be provided for the unidirectional drive moment of torsion relevant whereby with described drive element.
20. method according to claim 18, wherein apply the opposite molectron moment of torsion of described second direction and comprise use second driving shaft by described moment of torsion guiding mechanism, described second driving shaft is configured to along the second direction rotation opposite with described first direction, and make the described second molectron moment of torsion relevant with described driving molectron, and make second driving torque relevant with described drive element, and
Wherein make one in described first driving shaft or described second driving shaft and described first and second driving shaft between the isolated part of engagement, with described drive element engagement, so that described first and second driving torque is unidirectional relevant with described drive element.
21. according to the described method of arbitrary claim in the claim 18 to 20, wherein applying the opposite molectron moment of torsion of described second direction by described moment of torsion guiding mechanism comprises, use at least in part around described first driving shaft and be attached to the shell of the framework of described driving molectron, wherein said shell is configured to make the described second molectron moment of torsion comprise the non-driving torque that is applied to described driving molectron by described shell not with respect to described first driving shaft rotation.
22. according to the described method of arbitrary claim in the claim 18 to 20, wherein use described moment of torsion guiding mechanism to control the outside rotating assembly moment of torsion that is applied to described driving molectron by described first and second molectron moment of torsion, so that use the outer buttons torque that is delivered to described driving molectron to control the position of described driving molectron at least in part.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US6898408P | 2008-03-11 | 2008-03-11 | |
| US61/068,984 | 2008-03-11 | ||
| PCT/US2009/001539 WO2009114137A2 (en) | 2008-03-11 | 2009-03-11 | Torque-adjusting drive mechanism for a propellable device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102006814A true CN102006814A (en) | 2011-04-06 |
Family
ID=41063673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980113017.5A Pending CN102006814A (en) | 2008-03-11 | 2009-03-11 | Torque-adjusting drive mechanism for a propellable device |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8276480B2 (en) |
| EP (1) | EP2257212A4 (en) |
| JP (1) | JP5380466B2 (en) |
| KR (1) | KR20110004379A (en) |
| CN (1) | CN102006814A (en) |
| WO (1) | WO2009114137A2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103385681A (en) * | 2013-08-14 | 2013-11-13 | 深圳市开立科技有限公司 | Handle rotation control structure and endoscope device |
| CN104349707A (en) * | 2012-08-31 | 2015-02-11 | 奥林巴斯医疗株式会社 | Insertion body, insertion device, rotation unit, and rotational force transmission unit |
| CN107072497A (en) * | 2015-06-18 | 2017-08-18 | 奥林巴斯株式会社 | Drive shaft, insertion equipment and insertion apparatus |
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| US8276480B2 (en) | 2008-03-11 | 2012-10-02 | Fujifilm Corporation | Torque-adjusting drive mechanism for a propellable device |
| US8568298B2 (en) | 2009-02-16 | 2013-10-29 | Fujifilm Corporation | Propellable apparatus and related methods |
| US8672835B2 (en) | 2009-02-16 | 2014-03-18 | Fujifilm Corporation | Propellable apparatus and related methods |
| JP5179600B2 (en) * | 2011-01-13 | 2013-04-10 | 富士フイルム株式会社 | Endoscope insertion assist device |
| CN102122068B (en) * | 2011-03-23 | 2012-06-27 | 深圳市亚泰光电技术有限公司 | Fine adjustment device for endoscope |
| WO2012132725A1 (en) * | 2011-03-25 | 2012-10-04 | 富士フイルム株式会社 | Self-propelled device |
| US20130172679A1 (en) * | 2011-07-01 | 2013-07-04 | Fujifilm Corporation | Endoscope insertion assisting device |
| US20130158349A1 (en) * | 2011-07-08 | 2013-06-20 | Fujifilm Corporation | Insertion and extraction assisting device and endoscope system |
| JP2013111341A (en) * | 2011-11-30 | 2013-06-10 | Fujifilm Corp | Propulsion assist device, and method of feeding drive force |
| JP2013153819A (en) * | 2012-01-27 | 2013-08-15 | Fujifilm Corp | Propulsion assisting apparatus for endoscope |
| JP2013236747A (en) * | 2012-05-15 | 2013-11-28 | Fujifilm Corp | Driving force transmission device for endoscope and endoscope auxiliary thrust device equipped with the same |
| JP5628261B2 (en) | 2012-09-28 | 2014-11-19 | 富士フイルム株式会社 | Medical drive |
| JP2014068817A (en) * | 2012-09-28 | 2014-04-21 | Fujifilm Corp | Condition visually confirming device for endoscope |
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| GB201815267D0 (en) * | 2018-09-19 | 2018-10-31 | Ucl Business Plc | Capsule endoscopy |
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- 2009-03-11 KR KR1020107022234A patent/KR20110004379A/en not_active Application Discontinuation
- 2009-03-11 WO PCT/US2009/001539 patent/WO2009114137A2/en active Application Filing
- 2009-03-11 EP EP09721078A patent/EP2257212A4/en not_active Withdrawn
- 2009-03-11 JP JP2010550686A patent/JP5380466B2/en not_active Expired - Fee Related
- 2009-03-11 CN CN200980113017.5A patent/CN102006814A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104349707A (en) * | 2012-08-31 | 2015-02-11 | 奥林巴斯医疗株式会社 | Insertion body, insertion device, rotation unit, and rotational force transmission unit |
| CN103385681A (en) * | 2013-08-14 | 2013-11-13 | 深圳市开立科技有限公司 | Handle rotation control structure and endoscope device |
| CN103385681B (en) * | 2013-08-14 | 2014-12-10 | 深圳市开立科技有限公司 | Handle rotation control structure and endoscope device |
| CN107072497A (en) * | 2015-06-18 | 2017-08-18 | 奥林巴斯株式会社 | Drive shaft, insertion equipment and insertion apparatus |
| CN107072497B (en) * | 2015-06-18 | 2020-03-03 | 奥林巴斯株式会社 | Drive shaft, insertion device, and insertion device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2009114137A3 (en) | 2009-12-17 |
| US8276480B2 (en) | 2012-10-02 |
| JP5380466B2 (en) | 2014-01-08 |
| US20090233747A1 (en) | 2009-09-17 |
| WO2009114137A2 (en) | 2009-09-17 |
| EP2257212A2 (en) | 2010-12-08 |
| EP2257212A4 (en) | 2011-08-03 |
| JP2011517967A (en) | 2011-06-23 |
| KR20110004379A (en) | 2011-01-13 |
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